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Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces

The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and th...

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Autores principales: Gorostiza, Ernesto Martín, Galilea, José Luis Lázaro, Meca, Franciso Javier Meca, Monzú, David Salido, Zapata, Felipe Espinosa, Puerto, Luis Pallarés
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2011
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231390/
https://www.ncbi.nlm.nih.gov/pubmed/22163907
http://dx.doi.org/10.3390/s110505416
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author Gorostiza, Ernesto Martín
Galilea, José Luis Lázaro
Meca, Franciso Javier Meca
Monzú, David Salido
Zapata, Felipe Espinosa
Puerto, Luis Pallarés
author_facet Gorostiza, Ernesto Martín
Galilea, José Luis Lázaro
Meca, Franciso Javier Meca
Monzú, David Salido
Zapata, Felipe Espinosa
Puerto, Luis Pallarés
author_sort Gorostiza, Ernesto Martín
collection PubMed
description The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage) and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems.
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spelling pubmed-32313902011-12-07 Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces Gorostiza, Ernesto Martín Galilea, José Luis Lázaro Meca, Franciso Javier Meca Monzú, David Salido Zapata, Felipe Espinosa Puerto, Luis Pallarés Sensors (Basel) Article The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage) and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems. Molecular Diversity Preservation International (MDPI) 2011-05-18 /pmc/articles/PMC3231390/ /pubmed/22163907 http://dx.doi.org/10.3390/s110505416 Text en © 2011 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Gorostiza, Ernesto Martín
Galilea, José Luis Lázaro
Meca, Franciso Javier Meca
Monzú, David Salido
Zapata, Felipe Espinosa
Puerto, Luis Pallarés
Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces
title Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces
title_full Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces
title_fullStr Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces
title_full_unstemmed Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces
title_short Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces
title_sort infrared sensor system for mobile-robot positioning in intelligent spaces
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231390/
https://www.ncbi.nlm.nih.gov/pubmed/22163907
http://dx.doi.org/10.3390/s110505416
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